摘要
当代机器人技术的发展对机器人动态特性提出了更高的要求,惯性参数是影响机器人动态特性的主要参数之一。文章回顾了当前辨识机器人惯性参数的各种方法,讨论了各种方法的优点和存在的问题;介绍了基于传感器信息的机器人惯性参数识别方面的研究进展;给出本文的小结和有待于进一步研究的课题。
The development of the modern robot technology calls for better and better dynamic performance of robots, and the inertial parameters play an important part in the robot dynamic characteristics. In this paper,the methods of identifying robot inertial parameters are reviewed and their advantages and disadvantages are analyzed. The development of research on identification of inertial parameters of robots based on the signals of sensors is introduced. Some subjects which need to be investigated further are given.
出处
《合肥工业大学学报（自然科学版）》
CAS
CSCD
北大核心
2005年第9期998-1003,1007,共7页
Journal of Hefei University of Technology：Natural Science
关键词
机器人
惯性参数
参数辨识
多轴力传感器
robot
inertial parameter
parameter identification
multi-axis force sensor
